#ifndef Bianma_Hpp
#define Bianma_Hpp

#include <boost/asio.hpp>
//#include <boost/bind.hpp>
//#include <boost/array.hpp>
#include <boost/asio/steady_timer.hpp>
#include <memory>
#include <thread>
#include <functional>
#include <queue>
#include "Serial.hpp"

class bianma : public Serial
{
public:
  bianma(std::string port, int baud);
  ~bianma(){};
  int rec_ok(std::vector<u_int8_t> &msg);
  virtual void recvMsg(std::vector<u_int8_t> &msg) override;
  virtual void startTimer(int ms_s)override;
  void set_send_v(int n,int id);
  void Set_reset_zero(void);
   void Clr_reset_zero(void);
  int send_count[4];
  int rec_count[4];
  int current_angle[4];
  int set_angle[4];
  int circle_count=0;
  //编码器id 4个
  int Reset_flag=0;
  const int bianma_id[4]={0x0111,0x0112,0x0113,0x0114}; 
};




#endif
